The Queen and Prince Philip were greeted by around 100 well-wishers when they attended the Sunday morning service at St Mary’s Church in Flitcham.
They were joined by the Queen’s nephew, the second Earl of Snowdon David Armstrong-Jones, and his swife Serena Armstrong-Jones.
The 45-minute church service was conducted by the Rt Rev Paul Williams, Bishop of Southwell and Nottingham.
The Queen appeared to be back in good health following a period of illness over Christmas.
Following the service, the Queen and the Duke of Edinburgh paid a private visit to the church’s lay reader Sally Stanton and her family at their home in the village.